syms L1 L2 L3 d1 theta1 theta2
T01=dh_matrix(0,0,0.1,theta1)
T12=dh_matrix(0,L1,d1-0.1,theta2)
T23=dh_matrix(0,L2,-L3,0);
T=T01*T12*T23
%simplify(T(1:3,4))
